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Plane: fixed bug in pullup code 

if we have poor pitch trim it is possible we will pullup before
reaching the target airspeed. Check pitch threshold during airspeed
stage of pullup
This commit is contained in:
Andrew Tridgell 2024-09-29 09:12:45 +10:00
parent 834863fdb7
commit 1c194878ee
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/pullup.cpp
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@ -115,7 +115,7 @@ bool GliderPullup::verify_pullup(void)
switch (stage) { switch (stage) {
case Stage::WAIT_AIRSPEED: { case Stage::WAIT_AIRSPEED: {
float aspeed; float aspeed;
if (ahrs.airspeed_estimate(aspeed) && aspeed > airspeed_start) { if (ahrs.airspeed_estimate(aspeed) && (aspeed > airspeed_start || ahrs.pitch_sensor*0.01 > pitch_start)) {
gcs().send_text(MAV_SEVERITY_INFO, "Pullup airspeed %.1fm/s alt %.1fm AMSL", aspeed, current_loc.alt*0.01); gcs().send_text(MAV_SEVERITY_INFO, "Pullup airspeed %.1fm/s alt %.1fm AMSL", aspeed, current_loc.alt*0.01);
stage = Stage::WAIT_PITCH; stage = Stage::WAIT_PITCH;
} }